TRNG I HC BCH KHOA H NI

KHOA IN
B MN IU KHIN T NG

CC BI TH NGHIM
MN HC
L THUYT IU KHIN T NG
PHN PHI TUYN
KHI IU KHIN T NG; O LNG TH V T NG HO ( 4 bi)

H NI 8/2008

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 CC BI TH NGHIM
L THUYT IU KHIN T NG
H THNG IU KHIN XUNG S V IU KHIN PHI TUYN
I. MC CH :
SIMULINK l mt cng c rt mnh ca Matlab xy dng cc m hnh mt cch trc
quan v d hiu. m t hay xy dng h thng ta ch cn lin kt cc khi c sn trong
th vin ca SIMULINK li vi nhau. Sau , tin hnh m phng h thng xem xt
nh hng ca b iu khin n p ng qu ca h thng v nh gi cht lng h
thng.
II. CHUN B :
thc hin cc yu cu trong bi th nghim ny, sinh vin cn phi chun b k v hiu r
cc khi c bn cn thit trong th vin ca SIMULINK. Sau khi khi ng Matlab 6.5, ta
g lnh simulink hoc nhn vo nt simulink trn thanh cng c th ca s SIMULINK hin
ra: 2 th vin chnh p dng trong bi th nghim ny
Cc th vin con trong

Ch :
o Sinh vin phi c k v chun b cc bi th
nghim (Bao gm gii p cc vn c
gch chn nu trong bi).
o Trc khi vo phng th nghim, cn b
hng dn th nghim s kim tra bi chun b
ca tt c cc bi th nghim s tin hnh trong
bui. Sinh vin khng c bi chun b s khng
c tin hnh th nghim.
o Phi np bo co th nghim sau khi th
nghim ti a 1 tun.
o Cn b hng dn th nghim:
ThS. Nguyn Vit Dng, lin h:04 38692985
KS. on Th Thu H, lin h: 04 38692985
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II.1. Cc khi c s dng trong bi th nghim:
a. Cc khi ngun tn hiu vo (source):

Khi Step ( th vin Simulink \ Sources) c chc nng xut ra tn

hiu hm bc thang. Double click vo khi ny ci t cc thng
s:
Step time : khong thi gian u ra chuyn sang mc Final value k
t lc bt u m phng. Ci t gi tr ny bng 0.
Initial value : Gi tr ban u. Ci t bng 0.
Final value : Gi tr lc sau. Ci t theo gi tr ta mun tc ng ti
h thng. Nu l hm bc thang n v th gi tr ny bng 1.
Sample time : thi gian ly mu. Ci t bng 0.
Khi Signal Generator ( th vin Simulink \ Sources) l b pht tn
hiu xut ra cc tn hiu sng sin, sng vung, sng rng ca v ngu
nhin (ci t cc dng sng ny trong mc Wave form).

b. Cc khi ti thit b kho st ng ra (sink):

Khi Mux ( th vin Simulink \ Signals Routing) l b ghp knh
nhiu ng vo 1 ng ra, t ng ra ny ta a vo Scope xem nhiu
tn hiu trn cng mt ca s. Double click vo khi ny thay i
s knh u vo (trong mc Number of inputs)
Khi Scope ( th vin Simulink \ Sinks) l ca s xem cc tn hiu
theo thi gian, t l xch ca cc trc c iu chnh t ng
quan st tn hiu mt cch y .
Khi XY Graph dng xem tng quan 2 tn hiu trong h thng
(quan st mt phng pha).

c.Cc khi x l khi ng hc :

Khi Sum ( th vin Simulink \ Math Operations) l b tng (cng
hay tr) cc tn hiu, thng dng ly hiu s ca tn hiu t vi
tn hiu phn hi. Double click thay i du ca b tng.
Khi Gain ( th vin Simulink \ Math Operations) l b t l. Tn
hiu sau khi qua khi ny s c nhn vi gi tr Gain. Double click
thay i gi tr li Gain.
Khi Transfer Fcn ( th vin Simulink \ Continuous) l hm truyn
ca h tuyn tnh. Double click thay i bc v cc h s ca hm
truyn. Ci t cc thng s:
_ Numerator : cc h s ca a thc t s
_ Denominator : cc h s ca a thc mu so
Khi Relay ( th vin Simulink \ Discontinuities) l b iu khin
rle 2 v tr c tr (cn gi l b iu khin ON-OFF). Cc thng s :
_ Switch on point : nu tn hiu u vo ln hn gi tr ny th ng ra
ca khi Relay ln mc on
_ Switch off point : nu tn hiu u vo nh hn gi tr ny th ng
ra ca khi Relay xung mc off
_ Output when on : gi tr ca ng ra khi mc on
_ Output when off : gi tr ca ng ra khi mc off
Nu tn hiu u vo nm trong khong (Switch on point, Switch off
point) th gi tr ng ra gi nguyn khng i.

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 Khi Saturation ( th vin Simulink \ Discontinuities) l mt khu
bo ha. Cc thng s ci t:
_ Upper limit : gii hn trn. Nu gi tr u vo ln hn Upper limit
th ng ra lun bng gi tr Upper limit
_ Lower limit : gii hn di. Nu gi tr u vo nh hn Lower
limit th ng ra lun bng gi tr Lower limit
Khu bo ho dng th hin gii hn bin ca cc tn hiu
trong thc t nh : p ra cc i ca b iu khin t vo i tng,
p ngun
Khi PID controller ( th vin Simulink Extras \ Additional
Linear) l b iu khin PID vi hm truyn ( )
KP : h s t l (proportional term)
KI: h s tch phn (integral term)
KD: h s vi phn (derivative term)

II.2. Cc bc tin hnh xy dng mt ng dng mi trong SIMULINK:

_ Sau khi khi ng Matlab, g lnh simulink hoc nhn vo nt simulink trn thanh cng
c th ca s SIMULINK hin ra (nh hnh v Trang 1)
_ Trong ca s SIMULINK, vo menu File / New m ca s cho mt ng dng mi.
Kch chut vo cc th vin gii thiu mc II.1 chn khi cn tm. Kch chut tri
vo khi ny, sau ko v th vo ca s ng dng va mi to ra. Double click vo khi
ny ci t v thay i cc thng s.
_ C th nhn s lng cc khi bng cch dng chc nng Copy v Paste. Kch chut tri
ni cc ng vo / ra ca cc khi hnh thnh s h thng.
_ C th di mt hoc nhiu khi t v tr ny n v tr khc bng cch nhp chut chn
cc khi v ko n v tr mi. Dng phm Delete xa cc phn khng cn thit hay b
sai khi chn.
_ C th vit ch thch trong ca s ng dng bng cch double click vo mt v tr trng v
g cu ch thch vo. Vo menu Format / Font thay i kiu ch.
_ Nh vy, m hnh h thng xy dng xong. By gi tin hnh m phng h thng bng
cch vo menu Simulation / Simulation Parameters ci t cc thng s m phng.
Ca s Simulation Parameters hin ra nh sau:
_ Start time : thi im bt u m phng. Mc nh chn bng 0.
_ Stop time : thi im kt thc m phng. Gi tr ny chn theo c tnh ca h thng. Nu
h thng c thi hng ln th gi tr Stop time cng phi ln quan st ht thi gian qu
ca h thng.
_ Cc thng s cn li chn mc nh nh hnh k bn.
_ Chy m phng bng cch vo menu Simulation / Start. Khi thi gian m phng bng gi
tr Stop time th qu trnh m phng dng li. Trong qu trnh m phng, nu ta mun dng
na chng th vo menu Simulation / Stop.

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 BI TH NGHIM 1
KHO ST C TNH NG HC V
TNH N NH CA H XUNG S

1. Kho st c tnh ng hc ca h xung s

a. Mc ch:
- Xc nh hm truyn ca h thng iu khin xung s
- Kho st c tnh ng hc ca h thng iu khin xung s
b. Ni dung
- Cho mt h thng iu khin s
zoh i tng
X 1 e sT 1 Y
s s ( s + 1)
T=1

Thi gian ly mu T=1s

Phng php gi mu bc 0 : 'ZOH' ZERO ORDER HOLD
- Xc nh hm truyn ca h thng xung h
zoh i tng
X 1 e sT
1 Y
s s ( s + 1)
T=1

X(z) Y(z)
G1(z)

- Xc nh hm truyn ca h thng xung kn

X(z) Y(z)
G1(z)

- Xc nh hm qu v hm trng lng ca h thng xung kn

c. Chng trnh
>>G=tf(1,[1 1 0])
>>G1=c2d(G,1,'zoh')
>>Gk=feedback(G1,1)
>>step(Gk)
>>impulse(Gk)

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2. Kho st tnh n nh ca h thng xung s
a. Ni dung
- Cho mt h thng iu khin s nh sau
zoh i tng
T=0.1
X 1 e sT 1 Y
D(z)
s s ( s + 1)

Thi gian ly mu T=0.1s

Phng php gi mu bc 0 : 'zoh' ZERO ORDER HOLD
Hm truyn D(z)=K
Hm truyn
1
G(s) =
s(s + 1)
- Xc nh hm truyn ca h thng xung h
H(z)=D(z)*G1(z)
- V qu o nghim s v xc nh tr s gii hn K theo tiu chun n nh ca
h xung s
- Thay tr s Kgh vo h thng v kim tra qu trnh qu trong h thng kn
- Chnh nh K h thng n nh v c qu trnh qu t cc ch tiu cht
lng

b. Chng trnh

>>G=tf(1,[1 1 0])
>>G1=c2d(G,0.1,'zoh')
>>rlocus(G1); hold on
>>x=[-1 :0.01:1]; y=sqrt(1-x.^2);
>>plot(x,y,x,-y)
>>[K,p]=rlocfind(G1)
>>Gk=feedback(K*G1,1)
>>hold off
>>step(Gk,10)

YU CU VIT BO CO
- V s ca h thng iu khin s, s ca h thng xung h v h thng
xung kn
- Xc nh hm truyn ca h thng xung h v h thng xung kn
- V qu o nghim v xc nh Kgh
- V hm qu ca h thng kn khi K=Kgh
- Chnh nh K v v hm qu ca h thng xung kn, xc nh cc ch tiu cht
lng

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 BI TH NGHIM S 2.
KHO ST CC C TNH PHI TUYN V PHNG PHP MT PHNG
PHA
I. KHO ST CC C TNH PHI TUYN
1.Mc ch
Kho st c tnh ca cc khu phi tuyn tnh c bn y=F(x) ( S liu lm theo nhm)
a. Khu bo ho b.Khu c khe h
y y
a

x x
-b b
-a

c. Khu rle 2 v tr l tng d. Khu rle 2 v tr c tr

y y
a a

x
x
-b b
-a -a

e.Khu rle 3 v tr l tng Khu rle 3 v tr c tr

y y

a a x

-b b -c -b
x b c
-a -a

S liu theo nhm

Khu Khu Khu Khu r le Khu r le 2 Khu r le Khu r le 3
phi bo ho khe h 2 v tr l v tr c tr 3 v tr l v tr c tr
tuyn tng tng
a b a a b a b a b c
Nhm 1 1 0.5 1.5 1.5 0.5 1.5 0.5 1.5 0.5 1
Nhm 2 2 1 2.5 2.5 1 2.5 1 2.5 1 2
Nhm 3 1.5 1.5 1 1 1.5 1 1.5 1 1.5 3
Nhm 4 2.5 2 2 2 1 2 1 2 1 2
Nhm 5 0.5 2.5 0.5 1.5 0.5 1 1.5 1 1.5 2.5
2.Ni dung
a. Thnh lp m hnh ca cc khu phi tuyn c bn
b. Kho st quan h vo ra ca cc khu phi tuyn v ghi li cc c tnh phi tuyn in
hnh ( c tn hiu vo l hnh sin hoc rng ca)

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3.Bo co th nghim
- V s khi ca cc khu phi tuyn tnh c bn
- V c tnh ca cc khu phi tuyn tnh c bn

II. PHNG PHP MT PHNG PHA

1.Mc ch
p dng phng php mt phng pha phn tch cc h thng tuyn tnh v phi tuyn.

2.Ni dung
a. Kho st qu o pha ca mt h thng tuyn tnh bc 2 c s nh sau:

S kin: x1(0)=10; x2(0)=0;

Thi gian m phng: 100s
- Quan st qu o pha ca h thng tuyn tnh bc 2 c dao ng
- Quan st qu o pha ca h thng tuyn tnh bc 2 khng n nh
1
( thay i hm truyn ca khu qun tnh thnh khu khng n nh: )
10 s 1
- Quan st qu o pha ca h thng tuyn tnh bc 2 bin gii n nh ( thay i hm
1
truyn ca khu qun tnh thnh khu tch phn: )
10s

b.Kho st qu o pha ca mt h thng tuyn tnh bc 2 c s nh sau:

Cho iu kin ban u: x1(0)=2; x2(0)=0,8;

Khu phi tuyn F(x) c chn theo cc trng hp sau:
c. F(x) l khu r le hai v tr
d. F(x) l khu r le hai v tr c tr
e. F(x) l khu r le ba v tr
f. F(x) l khu r le ba v tr c tr

3.Bo co th nghim
a. V s khi v v qu o pha ca h thng tuyn tnh trong cc trng hp :
- H thng n nh, bin gii n nh v khng n nh
- Nhn xt kt qu
b. V s khi v qu o pha ca h thng phi tuyn tnh trong cc trng hp :
g. F(x) l khu r le hai v tr
h. F(x) l khu r le hai v tr c tr
i. F(x) l khu r le ba v tr
j. F(x) l khu r le ba v tr c tr
k. Nhn xt kt qu

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 BI TH NGHIM S 3.
HIU CHNH H THNG PHI TUYN v H THNG iu khin ti u
tc ng nhanh

Phn 1. Hiu chnh h phi tuyn

1.Mc ch
p dng phng php mt phng pha phn tch v hiu chnh h thng phi tuyn c s
sau
F(x)
1 x2 1 x1
s s

2.Ni dung
a. Cho F(x) l khu r le 2 v tr, v qu o pha vi iu kin ban u cho trc:
x1(0)=2; x2(0)=0.8;
-Hiu chnh bng mch phn hi cc b tuyn tnh ( tham s K)
- Kho st ch trt. Xc nh on qu o pha tng ng vi ch trt trn ng
chuyn i
b. . Cho F(x) l khu r le 2 v tr c tr. Hiu chnh bng mch phn hi cc b tuyn tnh
kho st ch t dao ng

3.Bo co th nghim
a. V s khi ca h thng phi tuyn tnh trong
l. F(x) l khu r le hai v tr hiu chnh bng mch phn hi cc b tuyn tnh
m. F(x) l khu r le hai v tr c tr hiu chnh bng mch phn hi cc b tuyn tnh
b. V qu o pha ca h thng phi tuyn tnh trong cc trng hp :
n. F(x) l khu r le hai v tr hiu chnh bng mch phn hi cc b tuyn tnh ( cho
K=0,1)
o. F(x) l khu r le hai v tr hiu chnh bng mch phn hi cc b tuyn tnh ( cho K
tng dn) v ch trt
p. F(x) l khu r le hai v tr c trhiu chnh bng mch phn hi cc b tuyn tnh (
ch t dao ng)
c. Xc nh on qu o pha tng ng vi ch trt

Phn II. H THNG iu khin ti u tc ng nhanh

1.Ni dung
S h thng iu khin ti u tc ng nhanh
1 u x2 x1
1 1
-1 s s
x2 .x2
y =
2

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a. Thnh lp s h thng ti u tc ng nhanh trn Simulink
b. V qu o pha vi s kin :
- x1(0) = 2 v x2(0) = 0,8
- x1(0) = -2 v x2(0) = -0,8
c.Xc nh thi gian ca qu trnh qu trong h thng ti u tc ng nhanh v so snh
vi thi gian qu ca h thng phi tuyn tnh c mch phn hi cc b tuyn tnh ( cng
s kin)
2. Bo co th nghim
- V s khi ca h thng ti u tc ng nhanh
- v qu o pha vi cc s kin cho
- V c tnh qu v kt lun v thi gian ca qu trnh qu trong h thng ti u tc
ng nhanh v so snh vi thi gian qu ca h thng phi tuyn c mch phn hi cc b
tuyn tnh ( cng s kin)

BI TH NGHIM PHI TUYN S 4

B IU KHIN GAIN-SCHEDULING PHN HI TRNG THI GN IM CC

1. Mc ch
Tm hiu v m phng vic thit k b iu khin Gain-scheduling theo phng php phn
hi trng thi gn im cc cho h phi tuyn.
2. Ni dung
Cho h phi tuyn c m t bi h phng trnh trng thi sau:
dx e x1 + u
= f ( x , t ) =
dt x1 3 x2 (1)

y = x1
a. Thit k b iu khin Gain-scheduling theo phng php phn hi trng thi gn im
cc cho h (1).
b. M phng b iu khin thit k cho h (1) trn Simulink.
3. Bo co th nghim
a. Vi cc im cc mong mun ca h (1) l ( n, 3) ,( vi n l s th t theo danh sch
lp), trnh by kt qu thit k b iu khin Gain-scheduling theo phng php phn
hi trng thi gn im cc.
b. V s khi, thc hin m phng trn Simulink b iu khin thit k.
c. Nhn xt kt qu thu c.

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 Hng dn s dng cc bi th nghim dng simulink

Bi 1. Cch lp s trong simulink kho st cc c tnh ca cc khu phi tuyn

in hnh

1.Khu bo ho 2. Khu c khe h

3. Khu rle 2 v tr l tng

4. Khu rle 2 v tr c tr

5. Khu rle 3 v tr l tng

6. Khu rle 3 v tr c tr

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Bi 2b. Cch thnh lp trong simulink v qu o pha ca h thng phi tuyn tnh
trong trng hp

Trong khi F(x) ta ln lt thay l cc khu r le 2 v tr, r le 2 v tr c tr, r le 3 v tr,

r le 3 v tr c tr
Bi 3. phn1
a. Cch thnh lp trong simulink kho st qu o pha ca h thng phi tuyn tnh hiu
chnh bng mch phn hi cc b tuyn tnh ( cho K = 0.7) c s nh hnh v sau tng
dn K n ch trt

b. Cng s nh tr nhng thay khu r le 2 v tr bng r le 2 v tr c tr v qu o

pha ca h thng phi tuyn ch t dao ng
Bi 3.phn2
1 .S h thng iu khin ti u tc ng nhanh nh hnh v

HNG DN S DNG BI TH NGHIM 4

1. Thit k b iu khin
- D dng thy h (1) c mt im lm vic ti xv = ( 3v, v ) . Khi h c th tham s ha
nh sau: uo ( v ) = e3v , yv ( v ) = 3v, xv ( v ) = ( 3v, v ) .
- Mt khc:
f e x1 0 f 1
= , =
x 1 3 u 0
Nn h c th c tuyn tnh ha xung quanh im lm vic nh sau:
dxv e 3v 0 1
= xv + uv ( 2)
dt 1 3 0

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 - Ta c
u0 ( v ) y ( v ) x ( v ) 3
= 3e 3v , = 3, =
v v v 1
V vy, vi cc im cc cho trc l ( 5, 3) th cc thnh phn ca b iu khin phi
tha mn h phng trnh sau:
e 3v 0 1
det sI K 3 = ( s + 5 )( s + 3)
1 3 0

3v 3
3e = K 2 + K 3 1

Gii h phng trnh ny thu c
K 2 = 15

K 3 = e 5 0
3v

- Kt qu thit k b iu khin
u ( t ) = u0 ( v ) + K 2 ( v ) ( w ( t ) wv ( v ) ) + K 3 ( v ) ( x ( t ) xv ( v ) )
x 3v
= e 3v + 15 ( w ( t ) yv ) + e 3v 5 0 1
x2 v
(
= e 3v + 15 ( w ( t ) 3v ) + e 3v 5 ( x1 3v ) )
(
= e 3 x2 + 15 ( w ( t ) 3 x2 ) + e 3 x2 5 ( x1 3 x2 ) )
2. S khi trn Simulink

dx 1/dt x1
1 u
-1 e
s
Integrator Gain 1 Math w
Function
To Workspace1

u w
Product
w
15
y Scope
Sine Wave Gain 3

e(-3*x2) y

u Math To Workspace
Manual Switch e
Function 1

Constant -5

dx 2/dt x2
1
Step -3
s
Integrator 1 Gain

3. Kt qu m phng
a. Tn hiu u vo bc nhy

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 1.8

1.6

1.4

1.2

apunghethong
1

0.8

D
0.6

0.4

0.2

0
0 5 10 15 20 25 30 35 40 45 50
t

b. Tn hiu u vo hnh sin

1.5

1
Dapunghethong

0.5

-0.5

-1
0 5 10 15 20 25 30 35 40 45 50
t

4. Nhn xt kt qu
- Sai lch tnh tn ti do phng php thit k l cho h c tuyn tnh ha xung
quanh im lm vic.
- Thay i im cc xem p ng thay i ra sao.

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